#include <Wire.h>
#include <esp_camera.h>
#include <WiFi.h>
#include <WebServer.h>
#include <ESPmDNS.h>
#include <WiFiAP.h>

#define CAMERA_MODEL_AI_THINKER // Has PSRAM
#include "camera_pins.h"

//这里设置L298N 四个引脚 
const int in1 = 2; //
const int in2 = 14; //
const int in3 = 15; //
const int in4 = 13; //

// WiFi热点配置
const char* ssid = "ESP32_CAM_Hotspot";
const char* password = "";

// 创建 Web 服务器对象
WebServer server(80);
void startCameraServer();
void setupLedFlash(int pin);

// 获取图像流的处理函数
void handleJpegStream() {

  camera_fb_t * fb = esp_camera_fb_get();
    // Serial.println(fb->len);
  if (!fb) {
    server.send(500, "text/plain", "Failed to capture frame");
    return;
  }
  server.send_P(200, "image/jpeg", (const char *)fb->buf, fb->len);
  esp_camera_fb_return(fb);
}

//前进
void qianjin() {
  Serial.println();
  Serial.print("qianjin");
  Serial.println();
  digitalWrite(in1, 1);
  digitalWrite(in2, 0);
  digitalWrite(in3, 1);
  digitalWrite(in4, 0);
}
// h后退
void houtui() {
  Serial.println();
  Serial.print("houtui");
  Serial.println();
  digitalWrite(in1, 0);
  digitalWrite(in2, 1);
  digitalWrite(in3, 0);
  digitalWrite(in4, 1);
}
// 左转
void zuozhuan() {
  Serial.println();
  Serial.print("zuozhuan");
  Serial.println();
  digitalWrite(in1, 0);
  digitalWrite(in2, 1);
  digitalWrite(in3, 1);
  digitalWrite(in4, 0);
}
// 右转
void youzhuan() {
  Serial.println();
  Serial.print("youzhuan");
  Serial.println();
  digitalWrite(in1, 1);
  digitalWrite(in2, 0);
  digitalWrite(in3, 0);
  digitalWrite(in4, 1);
}
// 停止
void tingzhi() {
  Serial.println();
  Serial.print("tingzhi");
  Serial.println();
  digitalWrite(in1, 0);
  digitalWrite(in2, 0);
  digitalWrite(in3, 0);
  digitalWrite(in4, 0);
}
//开灯
void openLED() {
 ledcWrite(LED_GPIO_NUM, 255);
  server.send(200, "text/plain", "openLED");
}
//关灯
void closeLED() {
  ledcWrite(LED_GPIO_NUM,  0);
   server.send(200, "text/plain", "closeLED");
}
void handleRoot() {
  server.send(200, "text/plain", "hello from esp32!");
}
// 初始化 WiFi 热点
void init_wifi() {
  WiFi.softAP(ssid, password);
  Serial.println();
  Serial.print("WiFi hotspot name: ");
  Serial.println(ssid);
  Serial.print("WiFi hotspot password: ");
  Serial.println(password);
  Serial.print("IP address: ");
  Serial.println(WiFi.softAPIP());
}

void setup() {
      //设置io输出
  pinMode(in1,OUTPUT);
  pinMode(in2,OUTPUT);
  pinMode(in3,OUTPUT);
  pinMode(in4,OUTPUT);
  digitalWrite(in1, 0);
  digitalWrite(in2, 0);
  digitalWrite(in3, 0);
  digitalWrite(in4, 0);

  Serial.begin(115200);


  camera_config_t config;
  config.ledc_channel = LEDC_CHANNEL_0;
  config.ledc_timer = LEDC_TIMER_0;
  config.pin_d0 = Y2_GPIO_NUM;
  config.pin_d1 = Y3_GPIO_NUM;
  config.pin_d2 = Y4_GPIO_NUM;
  config.pin_d3 = Y5_GPIO_NUM;
  config.pin_d4 = Y6_GPIO_NUM;
  config.pin_d5 = Y7_GPIO_NUM;
  config.pin_d6 = Y8_GPIO_NUM;
  config.pin_d7 = Y9_GPIO_NUM;
  config.pin_xclk = XCLK_GPIO_NUM;
  config.pin_pclk = PCLK_GPIO_NUM;
  config.pin_vsync = VSYNC_GPIO_NUM;
  config.pin_href = HREF_GPIO_NUM;
  config.pin_sccb_sda = SIOD_GPIO_NUM;
  config.pin_sccb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;
  config.frame_size = FRAMESIZE_UXGA;
  config.pixel_format = PIXFORMAT_JPEG;  // for streaming
  //config.pixel_format = PIXFORMAT_RGB565; // for face detection/recognition
  config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
  config.fb_location = CAMERA_FB_IN_PSRAM;
  config.jpeg_quality = 12;
  config.fb_count = 1;

  // if PSRAM IC present, init with UXGA resolution and higher JPEG quality
  //                      for larger pre-allocated frame buffer.
  if (config.pixel_format == PIXFORMAT_JPEG) {
    if (psramFound()) {
      config.jpeg_quality = 10;
      config.fb_count = 2;
      config.grab_mode = CAMERA_GRAB_LATEST;
    } else {
      // Limit the frame size when PSRAM is not available
      config.frame_size = FRAMESIZE_SVGA;
      config.fb_location = CAMERA_FB_IN_DRAM;
    }
  } else {
    // Best option for face detection/recognition
    config.frame_size = FRAMESIZE_240X240;
#if CONFIG_IDF_TARGET_ESP32S3
    config.fb_count = 2;
#endif
  }

#if defined(CAMERA_MODEL_ESP_EYE)
  pinMode(13, INPUT_PULLUP);
  pinMode(14, INPUT_PULLUP);
#endif

  // camera init
  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Camera init failed with error 0x%x", err);
    return;
  }

  sensor_t *s = esp_camera_sensor_get();
  // initial sensors are flipped vertically and colors are a bit saturated
  if (s->id.PID == OV2640_PID) {
    s->set_vflip(s, 1);        // flip it back
    s->set_brightness(s, 1);   // up the brightness just a bit
    s->set_saturation(s, -2);  // lower the saturation
  }
  // drop down frame size for higher initial frame rate
  if (config.pixel_format == PIXFORMAT_JPEG) {
    s->set_framesize(s, FRAMESIZE_VGA);
  }

#if defined(CAMERA_MODEL_M5STACK_WIDE) || defined(CAMERA_MODEL_M5STACK_ESP32CAM)
  s->set_vflip(s, 1);
  s->set_hmirror(s, 1);
#endif

#if defined(CAMERA_MODEL_ESP32S3_EYE)
  s->set_vflip(s, 1);
#endif

// Setup LED FLash if LED pin is defined in camera_pins.h
#if defined(LED_GPIO_NUM)
  setupLedFlash(LED_GPIO_NUM);
#endif


  init_wifi();

  // 注册处理 JPEG 流的路由
  server.on("/jpeg", handleJpegStream);
  server.on("/", handleRoot);
  server.on("/cmd/qianjin", qianjin);
  server.on("/cmd/houtui", houtui);
  server.on("/cmd/zuozhuan", zuozhuan);
  server.on("/cmd/youzhuan", youzhuan);
  server.on("/cmd/tingzhi", tingzhi);
  server.on("/cmd/open", openLED);
  server.on("/cmd/close", closeLED);
  // 启动服务器
  server.begin();
  Serial.println("HTTP server started");
  
  startCameraServer();
  
  Serial.print("Camera Ready! Use 'http://");
  Serial.println(WiFi.softAPIP());
  Serial.println("' to connect");
}

void loop() {
  // 处理客户端请求
  server.handleClient();
}